Iai-america IX-UNN3515H Manuel d'utilisateur

Pre1Horizontal Articulated Robot – IX Series Wall-Mounting Type, Arm Length 300/350 (Wall-Mounting)IX-TNN-3015H, IX-TNN-3515HWall-Mounting Type, Arm L

4No.Operation Description Description 4 Installation and Start (4) Safety Measures  When the work is carried out with 2 or more persons, make it cle

5No.Operation Description Description 6 Trial Operation  When the work is carried out with 2 or more persons, make it clear who is to be the leader

6No.Operation Description Description 8 Maintenance and Inspection  When the work is carried out with 2 or more persons, make it clear who is to be

7Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and

8Handling Precautions1. Positioning Repeatability Does Not Change Even If the Positioning Band is Changed.Positioning repeatability does not change ev

9RobotArm fixing plateController, accessoriesand other items(except for the robot)3. Handling of the CartonEach robot is packed with a controller prio

104. Handling of Individual ComponentsThe robot and controller are supplied as a set.Your robot cannot be used with the controller supplied with anoth

115. TransportationWhen transporting the robot, loop the cables around the upper part of the robot using adhesive tape, etc., andtransport the robot w

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131. Name of Each Part1. Name of Each Part 1.1 Robot ALM (indicator) U cable (outside robot)PG cable (outside robot)BK power-supply cable (outside ro

141. Name of Each Part1.2 Labels The following labels are attached on the robot and controller. Be sure to observe the instructions and cautions writt

151. Name of Each Part1.3 Label Positions Label Positions on the Robot Warning on handling of the vertical axis Robot serial number Warning against el

161. Name of Each PartLabel Positions on the Controller Other than CE-certified specification CE-certified specification Controller serial number Spec

172. External Dimensions2. External Dimensions IX-TNN3015H (Arm Length 300) Detail view of arm tiArm 2 stopper4-916 counterbored, depth 0.5 (Counter

182. External DimensionsIX-TNN3515H (Arm Length 350) Enlarged view of arm tipArm 2 stopper4-916 counterbored, depth 0.5 (Counterbored on opposite si

192. External DimensionsReference surface IX-UNN3015H (Arm Length 300) 4-916 counterbored, depth 0.5(Counterbored on opposite side)T-slot for instal

202. External DimensionsIX-UNN3015H (Arm Length 350) 4-916 counterbored, depth 0.5(Counterbored on opposite side)T-slot for installing peripheral eq

213. Robot Operation Area3 Robot Operation Area IX-TNN3015H, IX-UNN3015H IX-TNN3515H, IX-UNN3515H Area of prohibited entry Area of prohibited entry Mo

224. Wiring Diagram4 Wiring Diagram 4.1 Layout Drawing Wiring/Piping Diagram: 300/350 M cable (outside robot) PG cable (outside robot) User wiring ter

234. Wiring Diagram4.2 230 V Circuit Components No. Code name Model number Manufacturer Remarks 1 Axis 1 servo motor TS4607 N2027 E201 AC servo

Please Read Before UseThank you for purchasing our product.This Operation Manual explains the handling methods, structure and maintenance of this prod

245. Option5. Option 5.1 Absolute Reset Jig This jig is used to perform an absolute reset in the event that absolute data in the encoder was lost. Mod

256. Checking after Unpacking6. Checking after UnpackingAfter unpacking the carton, check the condition of the product and items included in the carto

266. Checking after Unpacking6.2 Operation Manuals Relating to This Product No. Item Control No. 1 Operation Manual for XSEL-PX/QX Controller ME01

276. Checking after Unpacking6.4 How to Read Model Number IX-TNN3015H-5L-T2-JY<Series>SCARA robot <Type>Wall mount typeArm length 300 mm/

287. Specifications7. Specifications 7.1 IX-TNN3015H, IX-UNN3015H IX-TNN3015H (arm length 300, wall mount), IX-UNN3015H (arm length 300, inverse) Item

297. SpecificationsItem SpecificationsSurrounding air temperature/humidityTemperature: 0 to 40°C, humidity: 20 to 85%RH orless (non-condensing)Operatin

307. Specifications7.2 IX-TNN3515H, IX-UNN3515H IX-TNN3515H (arm length 350, wall mount), IX-UNN3515H (arm length 350, inverse) Item Specifications Mod

317. SpecificationsItem SpecificationsSurrounding air temperature/humidityTemperature: 0 to 40°C, humidity: 20 to 85%RH orless (non-condensing)Operatin

328. Installation Environment and Storage/Preservation Environment8. Installation Environment and Storage/Preservation Environment8.1 Installation En

338. Installation Environment and Storage/Preservation Environment8.3 Storage/Preservation Environment The storage/preservation environment conforms t

CE MarkingIf a compliance with the CE Marking is required, please follow Overseas Standards Compliance Manual (ME0287) that is provided separately.

349. How to Install9.9.1How to InstallShown below is how to install SCARA Robot.Installation PostureCeiling-MountWall-MountHorizontally Oriented Mount

359. How to InstallThe operation area of the wall mount type extends to the back of the base. Because this type is specially designed for mounting on

369. How to Install 2-8H10 reference holes are provided on the mounting surface of the base. Use these holes to prevent the machine from dropping du

3710. Connecting the Controller10. Connecting the Controller The controller connection cables are attached on the robot (standard cable: 5 m, to air-t

3810. Connecting the Controller Before connecting or disconnecting a cable, always turn off the power to the controller. Connecting/disconnecting a

3910. Connecting the ControllerIf you are using an X-SEL-PX/QX controller, you must supply the brake power to the controller in addition to wiring the

4011. Connecting the Controller11. Checking after Installation Once the robot has been installed, check the following items:  Visually check the ro

4112. Precautions for Use12. Precautions for Use 12.1 Setting the Acceleration/Deceleration Set the acceleration/deceleration using the graphs below a

4212. Precautions for Use When PTP operation is performed with the acceleration/deceleration set to 100%, the optimal acceleration/deceleration func

4312. Precautions for Use12.2 Push Force of the Vertical Axis Set the push force of the vertical axis by referring to the graph below. Push-motion op

Table of Contents Safety Guide ...

4412. Precautions for UseD-cut surface Center of axis 4 (rotational axis) Span ring, etc. Pressure flange D-cut surface ToolTool diameter: 100 or les

4512. Precautions for Use Turn off the power to the controller and robot before installing a tool.  If the tool mounting part does not have suffic

4612. Precautions for Use12.4 Carrying Load Loading capacity Model number Rated load capacity Maximum load capacity IX-TNN3015H/3515H IX-UNN3015H/35

4712. Precautions for UseShape of Y-terminal Spacer for user part installation M4, depth 530 N or less2 Nm or lessExternal force applied to the space

4812. Precautions for UseThe robot comes with a mating 15-pin plug for the D-sub connector. Solder a user-supplied cable to the D-sub connector (plug)

4912. Precautions for UseArm 2 Axis 3 Axis 2 Axis 1 Arm 1 Wall mount specificationArm 1 Arm 2 Axis 3 Axis 4 Inverse specificationAxis 4 Axis 2 Axis 11

5013. Inspection/Maintenance13 Inspection/Maintenance 13.1 Inspection/Maintenance Your horizontal articulated robot must be inspected daily and on a r

5113. Inspection/Maintenance13.1.1 Daily InspectionCheck the following items daily before and after operating the robot.Observe the precautions for wo

5213. Inspection/Maintenance13.2 Battery Replacement13.2.1 PreparationThe following items are required when replacing the batteries:Before replacing t

5313. Inspection/MaintenanceReplacement Procedure (1) Remove the six low-head cap screws (1) and remove the rear panel (base). (2) Remove the batter

12. Precautions for Use ... 4112.1 Setting the

5413. Inspection/MaintenancePlatePin13.3 Absolute Encoder Reset Method 13.3.1 Preparation for Absolute Reset The following jigs are required to

5513. Inspection/Maintenance13.3.2 Starting the Absolute Reset Menu (1) Open the Abs Encoder Reset window from the PC software. (*) Select “Absolut

5613. Inspection/Maintenance13.3.3 Absolute Reset Procedure for Arm 1 or 2 (1) Click the “Encoder Rotation Data Reset1” button. Encoder Multi-rotati

5713. Inspection/Maintenance(3) Click the “Servo ON” button. Servo ON (4) Jog the arm to near the reference position (see reference position drawi

5813. Inspection/Maintenance(6) Press the emergency-stop switch. (7) When performing an absolute reset of arm 1, set the adjustment jig (pin) on arm

5913. Inspection/MaintenanceArm 1 Positioning mark label for arm 1 Positioningmark label for arm 2 Arm 2 Insertion depth Approx. 60 mmInsertion depth

6013. Inspection/Maintenance(8) Click the “OK” button. Confirmation (9) Click the “Encoder Rotation Data Reset2” button. Encoder Multi-rotation Data

6113. Inspection/Maintenance(10) Remove the adjustment jig.  If you are working on arm 1, install the cover and secure it with the setscrews (not re

6213. Inspection/Maintenance13.3.4 Absolute Reset Procedure for the Rotational Axis + Vertical Axis (1) Click “Encoder Rotation Data Reset1” button.

6313. Inspection/Maintenance(3) Click the “Servo ON” button. Servo ON (4) Click the “Temp. Standard posture standby” button.  The vertical axis ret

1Safety Guide“Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read

6413. Inspection/Maintenance(6) Click the “Servo-OFF” button. Servo OFF (7) Press the emergency-stop switch. (8) Affix the rotational axis at the r

6513. Inspection/MaintenanceApprox. 4 mm Approx. 4 mm z Always press the emergency-stop switch before setting an adjustment jig. Failure to do so may

6613. Inspection/Maintenance(9) Click the “OK” button. Confirmation (10) Click the “Encoder Rotation Data Reset2” button. Encoder Multi-rotation Data

6713. Inspection/Maintenance(11) Click the “Home pos. automatic update” button. Automatic Refresh of Home Preset Value (12) Remove the adjustment jig.

6813. Inspection/Maintenance(15) Click the “Servo ON” button. Confirmation (16) Click the “Standard posture standby” button.  The vertical axis ret

6913. Inspection/Maintenance(18) Click the “Encoder Rotation Data Reset3” button. Encoder Multi-rotation Data Reset 3 (19) Click the “Home pos. automa

7014. Warranty14. Warranty 14.1 Warranty Period One of the following periods, whichever is shorter: y 18 months after shipment from our company

7114. Warranty14.5 Conditions of Conformance with Applicable Standards/Regulations, Etc., and Applications(1) If our product is combined with anothe

Change HistoryChange History Revision Date Description of RevisionAugust 2010 First editionApril 2011P. 27 Added options “JY (Joint cable specific

2No.Operation Description Description 2 Transportation  When carrying a heavy object, do the work with two or more persons or utilize equipment su

Manual No.: ME3705-6A (January 2013)The information contained in this document is subject to change without notice for purposes ofproduct improvement.

3No.Operation Description Description (2) Cable Wiring  Use our company’s genuine cables for connecting between the actuator and controller, and for